CN108349036A - The robot welding system of the waveform diaphragm of membranous type liquefied gas cargo hold, waveform diaphragm for guiding and fixing membranous type liquefied gas cargo hold automatic soldering device structure and waveform diaphragm for guiding membranous type liquefied gas cargo hold automatic soldering device structure - Google Patents
The robot welding system of the waveform diaphragm of membranous type liquefied gas cargo hold, waveform diaphragm for guiding and fixing membranous type liquefied gas cargo hold automatic soldering device structure and waveform diaphragm for guiding membranous type liquefied gas cargo hold automatic soldering device structure Download PDFInfo
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- CN108349036A CN108349036A CN201680060441.8A CN201680060441A CN108349036A CN 108349036 A CN108349036 A CN 108349036A CN 201680060441 A CN201680060441 A CN 201680060441A CN 108349036 A CN108349036 A CN 108349036A
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- China
- Prior art keywords
- waveform diaphragm
- soldering device
- automatic soldering
- diaphragm
- binding groove
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/095—Monitoring or automatic control of welding parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/12—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to investigating the properties, e.g. the weldability, of materials
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0408—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work for planar work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/02—Seam welding; Backing means; Inserts
- B23K9/025—Seam welding; Backing means; Inserts for rectilinear seams
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B25/00—Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby
- B63B25/02—Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby for bulk goods
- B63B25/08—Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby for bulk goods fluid
- B63B25/12—Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby for bulk goods fluid closed
- B63B25/16—Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby for bulk goods fluid closed heat-insulated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B71/00—Designing vessels; Predicting their performance
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17C—VESSELS FOR CONTAINING OR STORING COMPRESSED, LIQUEFIED OR SOLIDIFIED GASES; FIXED-CAPACITY GAS-HOLDERS; FILLING VESSELS WITH, OR DISCHARGING FROM VESSELS, COMPRESSED, LIQUEFIED, OR SOLIDIFIED GASES
- F17C3/00—Vessels not under pressure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/18—Sheet panels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B3/00—Hulls characterised by their structure or component parts
- B63B3/14—Hull parts
- B63B3/68—Panellings; Linings, e.g. for insulating purposes
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17C—VESSELS FOR CONTAINING OR STORING COMPRESSED, LIQUEFIED OR SOLIDIFIED GASES; FIXED-CAPACITY GAS-HOLDERS; FILLING VESSELS WITH, OR DISCHARGING FROM VESSELS, COMPRESSED, LIQUEFIED, OR SOLIDIFIED GASES
- F17C2203/00—Vessel construction, in particular walls or details thereof
- F17C2203/03—Thermal insulations
- F17C2203/0304—Thermal insulations by solid means
- F17C2203/0358—Thermal insulations by solid means in form of panels
Abstract
The present invention relates to a kind of a kind of a kind of structures of the automatic soldering device of robot welding system of the waveform diaphragm of membranous type liquefied gas cargo hold, structure for guiding and fixing the automatic soldering device of the waveform diaphragm of membranous type liquefied gas cargo hold and waveform diaphragm for guiding membranous type liquefied gas cargo hold.When being welded to waveform diaphragm, cross anchored band with fixing groove is installed on the longitudinal anchor strap and the cross one another part of lateral anchor strap of the upper surface for being attached to the thermal insulation panel for being equipped with waveform diaphragm, this so that support automatic soldering device can be installed using fixing groove and guides the welding guiding piece of the movement of automatic soldering device, to steadily execute automatic welding to waveform diaphragm.
Description
Technical field
The present invention relates to a kind of waveform diaphragm robot welding system of membranous type liquefied gas cargo hold, and more particularly to one
The waveform diaphragm robot welding system of kind membranous type liquefied gas cargo hold, a kind of waveform for guiding and fastening membranous type liquefied gas cargo hold
The structure of diaphragm automatic soldering device and a kind of waveform diaphragm automatic soldering device for guiding membranous type liquefied gas cargo hold
The waveform diaphragm robot welding system of structure, the membranous type liquefied gas cargo hold includes the cross anchored band for having binding groove, wherein
The cross anchored band, which is arranged, to be placed with longitudinal anchor strap of the upper surface of the insulation board of the waveform diaphragm of welding being attached to
At joint portion between lateral anchor strap, so that being used to support and guiding automatic soldering device using binding groove to install
Guiding piece is welded, to steadily execute automatic welding to waveform diaphragm.
Background technology
In general, natural gas is to be conveyed in the gaseous state via onshore gas pipeline or offshore gas pipeline, Huo Zhe
It is liquefied as being transported to by liquified natural gas carrier (LNGC) after liquefied natural gas (liquefied natural gas, LNG)
Remote destination.
Liquefied natural gas be by by natural gas be cooled to cryogenic temperature (cryogenic temperature) (for example,
About -163 DEG C) and obtain, and its volume is about 1/600 of the volume in gaseous natural gas.Therefore, liquefied natural gas is suitble to
In carrying out long distance delivery by sea route.
Liquified natural gas carrier (LNGC) (LNG carrier) or lng regas ship (LNG regasification
Vessel, LNG RV) it is provided with the storage tank (commonly known as " freight house for the cryogenic temperature that can be subjected to liquefied natural gas
(cargo hold) "), the liquified natural gas carrier (LNGC) is designed to liquefied natural gas transport to land demand through sea route
Source, the lng regas ship are designed to liquefied natural gas transport to land requirement source, general through sea route
Liquefied natural gas through regasifying simultaneously is discharged into land requirement source by lng regas.
Recently, to such as liquefied natural gas Floating Production, storage and discharge mechanism (floating production,
Storage and offloading, FPSO) and liquefied natural gas floating stores and regasification unit (floating storage
And regasification unit, FSRU) etc. the demands of floating offshore structures be continuously increased.Such floating offshore structure
It is provided with the storage tank used in liquified natural gas carrier (LNGC) or lng regas ship.
Liquefied natural gas Floating Production, storage and discharge mechanism are configured to the natural gas liquefaction that will be produced, by liquid
Change natural gas storage and is unloaded to the floating on liquified natural gas carrier (LNGC) in storage tank and if necessary by liquefied natural gas
Offshore structure.
Liquefied natural gas floating stores and regasification unit is configured to the liquid that will be unloaded from liquified natural gas carrier (LNGC)
Change natural gas storage in storage tank and if necessary by lng regas and by the liquefied natural gas through regasifying
It is supplied to the floating offshore structure of land requirement source.
Such as liquified natural gas carrier (LNGC), lng regas ship, liquefied natural gas Floating Production, storage and unloading
Device and the storage of liquefied natural gas floating and regasification unit etc. are liquefied by sea route come conveying liquified natural gas or storage
The storage tank for storing the liquefied natural gas for being in low-temperature condition is provided in such offshore vessel of natural gas.
Whether such storage tank directly bears the load of cargo according to the insulator of storage tank and is divided into independent deposit
Storage tank and membranous type storage tank.
In addition, membranous type storage tank is divided into 96 type tanks of GTTNO and TGZ Mark type IIIs, and independent storage tank quilt
It is divided into MOSS types tank and IHI-SPB type tanks.
Herein, the insulating materials of membranous type storage tank and structure can be according to the classes of particulate metal piece of the material as storage tank
Type changes.Specifically, 96 type tanks of GTT NO (are mainly made of and are had very iron and nickel using invar (Invar) piece
The alloy of low coefficient of thermal expansion (coefficient of thermal expansion)) it manufactures, and Mark type III tanks
It is to be manufactured using stainless steel substrates.
96 type storage tanks of GTT NO have following structure, are in the structure the invar of 0.5mm to 1.5mm by thickness
The primary seal wall and auxiliary seal wall and formed by Plywood Case (plywood box) and perlite (perlite) that piece is formed
Major insulation wall and supplementary insulation wall are alternately stacked on the inner wall of hull.
In 96 type storage tanks of GTT NO, the liquid tightness and strength level and primary seal wall of auxiliary seal wall are almost
It is identical, even if reaching considerable time section to when primary seal wall leaks, remain to be safely supported cargo.
The insulation system of 96 type storage tanks of GTT NO is to be formed by two layers of insulated case, pearl by invar (36% nickel)
Rock and glued board are constituted.
Now, the typical freight house insulating layer of liquified natural gas carrier (LNGC) is illustrated with reference to the accompanying drawings.
Fig. 1 is the perspective view of the typical freight house of liquefied gas carrier, and Fig. 2 is the typical freight house insulating layer of liquefied gas carrier
Sectional view, and Fig. 3 is the plan view for showing the corner to adjacent waveform diaphragm and being welded.
Referring to FIG. 1 and FIG. 2, the typical freight house insulating layer of liquefied gas carrier includes the multiple insulation board assemblies being arranged in series
Unit (unit insulation assemble：1), wherein each of insulation board assembly unit includes supplementary insulation plate
(secondary insulation panel：10), major insulation plate (first insulation panel：20), flat connector
(flat joint：30), top bridge plate (top bridge panel：40), waveform diaphragm (corrugation membrane
sheet：50).
Supplementary insulation plate (10) utilizes epoxy adhesive (3：Epoxy mastic) and studs (stud bolt) (11)
It is secured to the inner wall (2) (or interior hull) of storage tank.
Flat connector (30) is arranged between the supplementary insulation plate (10) of each insulation board assembly unit (1) facing with each other
Space in, to seal the space and provide supplementary insulation.
Supplementary insulation plate (10) can be formed by reinforcement polyurethane foam (reinforced-polyurethane foam), and
Be provided on the upper surface of supplementary insulation plate (10) rigid three-ply board (rigid triplex) (12) (or rigidity auxiliary barrier
(rigid secondary barrier, RSB)).
Major insulation plate (20) includes sawing road (sawing line：21), anchor strap (anchor strip：23) and heat is anti-
Shield portion (thermal protection：24), and it is attached to the upsides of supplementary insulation plate (10).
Top bridge plate (40) is arranged between the major insulation plate (20) of each insulation board assembly unit (1) facing with each other
Space in, to seal the space and provide major insulation.
Major insulation plate (20) can be formed by reinforcement polyurethane foam, and can be provided on the upper surface of major insulation plate (20)
Glued board.In addition, major insulation plate (20) includes multiple fastening base supports (22).
Anchor strap (23) is to be formed by stainless steel (stainless steel), and be secured to major insulation using rivet (R)
Plate (20).
Anchor strap (23) includes the longitudinal anchor strap (23a) being arranged on the longitudinal direction of insulating layer and is arranged in insulating layer
Horizontal direction on lateral anchor strap (23b).
Flat connector (30) is arranged between the supplementary insulation plate (10) of each insulation board assembly unit (1) facing with each other
Space in, to provide supplementary insulation.Flat connector (30) can be formed by mineral wool (glass wool).
Top bridge plate (40) can be attached to the flexibility three being arranged on supplementary insulation plate (10) and flat connector (30) and close
The upside of plate (flexible triplex) (13).
Waveform diaphragm (50) is secured to upside and the top bridge plate 40 of major insulation plate (20) by anchor strap (23)
Upside.
Waveform diaphragm (50) can be embossed with the lower surface with uneven upper surface and injustice.
Since liquified natural gas carrier (LNGC) is intended to through sea route the conveying liquified day under cryogenic temperature (for example, about -163 DEG C)
Right gas, it is therefore desirable to which various advanced techniques for the freight house of liquified natural gas carrier (LNGC) provide thermal insulation properties, structural behaviour, gas
Close property (hermeticity) etc..For the membranous type freight house of liquified natural gas carrier (LNGC), diaphragm is welded to main exhausted
The upside of listrium, thus provides air-tightness.
Pass through spot welding (spot welding) for the typical freight house insulating layer of liquefied gas carrier with reference to Fig. 3
(temporary weld) is by adjacent waveform diaphragm (50：51 to 54) it is temporarily fastened to anchor strap (anchor strip) (23), then
In adjacent waveform diaphragm (50：51 to 54) corner carries out it under conditions of overlapping each other joint welding (lap welding), by
This provides air-tightness.
However, the typical structure for fastening automatic welding machinery is difficult to during the automatic welding of waveform diaphragm steadily
Support automatic welding machinery.In particular, during the welding of the upper surface of freight house and side surface, due to the weight of automatic welding machinery
It supports automatic welding machinery more difficult using such typical fastening structure, thus causes machinability and stability degradation.
Invention content
Technical problem
It is such in fields to solve the problems, such as to have envisioned the embodiment of the present invention, and each aspect of the present invention will carry
For a kind of waveform diaphragm robot welding system, a kind of for guiding and fasten membranous type liquefied gas cargo hold of membranous type liquefied gas cargo hold
The structure of waveform diaphragm automatic soldering device and a kind of for guiding the waveform diaphragm automatic welding of membranous type liquefied gas cargo hold to fill
The waveform diaphragm robot welding system of the structure set, the membranous type liquefied gas cargo hold includes the cross anchored band for having binding groove,
The wherein described cross anchored band, which is arranged, to be placed with longitudinal anchor of the upper surface of the insulation board of the waveform diaphragm of welding being attached to
Determine at the joint portion between band and lateral anchor strap, so that being used to support and guiding automatic welding to be hinged with to install using binding groove
The welding guiding piece set, to steadily execute automatic welding to waveform diaphragm.
Technical solution
According to aspects of the present invention, a kind of waveform diaphragm robot welding system of membranous type liquefied gas freight house, Yi Zhongyong are provided
It is used to guide membranous type liquid in the structure and one kind of the waveform diaphragm automatic soldering device for guiding and fastening membranous type liquefied gas freight house
Change the structure of the waveform diaphragm automatic soldering device of gas freight house.
The waveform diaphragm robot welding system of membranous type liquefied gas freight house includes：Longitudinal anchor strap is arranged in the vertical of insulating layer
To on direction, the insulating layer includes waveform diaphragm as the first barrier；The transverse direction in the insulating layer is arranged in lateral anchor strap
On direction；Cross anchored band, at the joint portion being arranged between longitudinal anchor strap and the lateral anchor strap, the intersection
Anchor strap has binding groove；Vertical support member is securely disposed in the binding groove；Guiding piece is welded, described hang down is connected to
Allotment support member；And automatic soldering device, it can be moved with to the waveform diaphragm adjacent to each other along the welding guiding piece
Corner carries out joint welding.
The automatic soldering device may include：Main body, including track, the welding guiding piece are embedded into the track；
Movable pulley is arranged on the track with the movement main body；Horizontal rotor is mounted on the upside of the main body, in order to
It rotates in the horizontal direction；X-axis/Y-axis rotor is mounted on the upside of the horizontal rotor, in order in X-direction and Y-axis
Side rotates up；Articulated jib is connected to the X-axis/Y-axis rotor and in the another of the articulated jib in one end of the articulated jib
End is provided with welding torch and the sensor for detecting welding field；And wheel-drive, drive the movable pulley.
The articulated jib can be made of two segments being connected through the hinge, wherein each of described segment can have
Stretching structure.
The corner of the adjacent waveform diaphragm can be tight by using automatic soldering device progress joint welding
It is affixed to each other.
The structure of the waveform diaphragm automatic soldering device for guiding and fastening membranous type liquefied gas cargo hold includes：Intersect
Anchor strap is arranged at the joint portion between the anchor strap on being separately positioned on the longitudinal direction and horizontal direction of insulating layer, institute
It includes waveform diaphragm as the first barrier to state insulating layer, and the cross anchored band has binding groove；Vertical support member is set securely
It sets in the binding groove；And welding guiding piece, to guide the automatic soldering device in the vertical support member.
It is described for guiding the structure of the waveform diaphragm automatic soldering device of membranous type liquefied gas cargo hold to include：Cross anchored
Band is arranged at the joint portion between the anchor strap on being separately positioned on the longitudinal direction and horizontal direction of insulating layer, described exhausted
Edge layer includes waveform diaphragm as the first barrier, and the cross anchored band has binding groove；Vertical support member is securely disposed at
In the binding groove；And welding guiding piece, to guide the automatic soldering device in the vertical support member, wherein
The welding guiding piece is arranged on longitudinal direction and transverse direction in the immediately above of the anchor strap.
Advantageous effects
As described above, waveform diaphragm robot welding system according to the present invention can be used for waveform diaphragm being fastened to major insulation
The upside of layer or auxiliary insulating layer.
In addition, the present invention provides a kind of waveform diaphragm robot welding system, the waveform diaphragm robot welding system is simple
Ground can establish stable automatic welding guiding route by adding cross anchored band into typical anchor strap configuration, and no matter goods
How the installation position of storehouse insulation system can implement invariable automatic welding condition.
In addition, the present invention provides a kind of waveform diaphragm robot welding system, the waveform diaphragm robot welding system makes
Easily attaching/dismounting can be carried out to welding guiding piece so that do not utilize any additional finishing technique (finishing
Process) just the center of cross anchored band can be used as barrier, even and if being put so that being welded with above on the insulating layer of film
It still is able to for the binding groove of cross anchored band to be used as the anchor point of vertical support member during setting supplemental dielectric layer.
Description of the drawings
Fig. 1 is the perspective view of the typical freight house of liquefied gas carrier.
Fig. 2 is the sectional view of the typical freight house insulating layer of liquefied gas carrier.
Fig. 3 is to show a kind of plan view for the typical method that the corner to adjacent waveform diaphragm is welded.
Fig. 4 is the perspective view of membranous type liquefied gas freight house according to the present invention.
Fig. 5 is the perspective view of cross anchored band according to an embodiment of the invention.
Fig. 6 is the sectional view along Fig. 5 institutes taken along lines A-A.
Fig. 7 is the perspective view of cross anchored band according to another embodiment of the present invention.
Fig. 8 is the sectional view intercepted along Fig. 7 institutes timberline B-B.
Fig. 9 is the perspective view of cross anchored band according to yet another embodiment of the invention.
Figure 10 is to show the perspective view according to the present invention installed to rectangular solder guiding piece.
Figure 11 is to show the perspective view according to the present invention installed to straight line welding guiding piece.
Figure 12 and Figure 13 is the sectional view along 5 timberline C-C interceptions.
Figure 14 shows the method that a kind of corner to adjacent waveform diaphragm according to the present invention is welded, and is provided with
Vertical support member at the center of cross anchored band will not interfere welding procedure.
Figure 15 is to show the perspective view according to the present invention installed to automatic soldering device.
Figure 16 is the side view of automatic soldering device according to the present invention.
Specific implementation mode
A kind of waveform diaphragm robot welding system of membranous type liquefied gas freight house according to the present invention includes：Longitudinal anchor strap,
It is arranged on the longitudinal direction of insulating layer, the insulating layer includes waveform diaphragm as the first barrier；Lateral anchor strap, setting exist
On the horizontal direction of the insulating layer；Cross anchored band is arranged between longitudinal anchor strap and the lateral anchor strap
At joint portion, the cross anchored band has binding groove；Vertical support member is securely disposed in the binding groove；Welding is drawn
Guiding element is connected to the vertical support member；And automatic soldering device, it can be moved with to adjacent to each other along the welding guiding piece
The waveform diaphragm corner carry out joint welding.
The automatic soldering device may include：Main body, including track, the welding guiding piece are embedded into the track；
Movable pulley is arranged on the track with the movement main body；Horizontal rotor is mounted on the upside of the main body, in order to
It rotates in the horizontal direction；X-axis/Y-axis rotor is mounted on the upside of the horizontal rotor, in order in X-direction and Y-axis
Side rotates up；Articulated jib is connected to the X-axis/Y-axis rotor and in the another of the articulated jib in one end of the articulated jib
End is provided with welding torch and the sensor for detecting welding field；And wheel-drive, drive the movable pulley.
The articulated jib can be made of two segments being connected through the hinge, wherein each of described segment can have
Stretching structure.
The corner of the adjacent waveform diaphragm can be tight by using automatic soldering device progress joint welding
It is affixed to each other.
The mode of the present invention
Hereinafter, will illustrate a kind of waveform diaphragm robot welding system of membranous type liquefied gas freight house, be a kind of for guiding and tight
Gu the structure of the waveform diaphragm automatic soldering device of membranous type liquefied gas freight house and a kind of for guiding membranous type liquefied gas freight house
The structure of waveform diaphragm automatic soldering device.
Fig. 4 is the perspective view of membranous type liquefied gas freight house according to the present invention, and Fig. 5 is friendship according to an embodiment of the invention
The perspective view of anchor strap is pitched, Fig. 6 is the sectional view along Fig. 5 institutes taken along lines A-A, and Fig. 7 is according to another embodiment of the present invention
The perspective view of cross anchored band, Fig. 8 is the sectional view intercepted along Fig. 7 institutes timberline B-B, and Fig. 9 is according to another implementation of the invention
The perspective view of the cross anchored band of example.
The waveform diaphragm robot welding system of membranous type liquefied gas freight house according to the present invention can be applied to auxiliary insulating layer and
Both main insulating layers, the auxiliary insulating layer include the second insulation board, the second barrier, the first insulation board and as the first barrier
Waveform diaphragm, the main insulating layer includes the first insulation board and the waveform diaphragm as the first barrier.
Waveform diaphragm robot welding system according to the present invention includes the cross anchored band with binding groove (123a)
(123), wherein the cross anchored band, which is arranged, is being attached to the waveform diaphragm (110 that is placed with and will be soldered：111 to 114)
At joint portion between longitudinal anchor strap (121) of the upper surface of insulation board (20) and lateral anchor strap (122), so that utilizing
Binding groove (123a) is used to support and guides the welding guiding piece (140) of automatic soldering device (200) to install, to waveform
Diaphragm (110：111 to 114) stability automatic welding is executed.
In waveform diaphragm robot welding system according to the present invention, longitudinal anchor strap (121) is arranged in the vertical of insulating layer
To on direction, lateral anchor strap (122) is arranged on the horizontal direction of insulating layer, and the cross anchored with binding groove (123a)
Band (123) setting is at the joint portion between longitudinal anchor strap (121) and lateral anchor strap (122).
Binding groove (123a) is formed in the center of cross anchored band (123), and cross anchored band (123) is in cross anchored band
(123) edge is formed with fastener hole (123b), for cross anchored band (123) is fastened to insulation using rivet (R)
The upper surface of plate (20).
Cross anchored band (123) can relation adjacent longitudinal direction anchor strap (121) and lateral anchor strap (122) face-to-face, such as
Shown in Fig. 5 and Fig. 6, or can be stepped and overlapping with longitudinal anchor strap (121) and lateral anchor strap (122), such as Fig. 7 and figure
Shown in 8.
With reference to Fig. 9, cross anchored band (123) can be in two directions rather than as being in the figure 7 ladder in one direction
Shape.Alternately, ladder-like part can be formed in longitudinal anchor strap and lateral anchor strap rather than in cross anchored band,
But it is not shown in the accompanying drawings.
Figure 10 is the perspective view of rectangular solder guiding piece according to the present invention, and Figure 11 is straight line welding according to the present invention
The perspective view of guiding piece.
0 and Figure 11 referring to Fig.1 can be arranged as the vertical support member of automatic welding support element in binding groove (123a)
(130), so that welding guiding piece (140) is connected to vertical support member (130).
Figure 12 and Figure 13 is the sectional view along 5 timberline C-C interceptions.
For vertical support member (130) is fastened to binding groove (123a), binding groove (123a) can have internal thread, and vertical
Support element (130) (referring to Figure 10) can have external screw thread at lower end, as shown in figure 12.Alternately, vertical support member
(130) (referring to Figure 10) can by being fastened to binding groove (123a) by opening mechanism (push-and-flip mechanism),
It is described to press in opening mechanism, it in the lower end insertion binding groove of vertical support member, is rotated and is buckled by binding groove, as shown in figure 13.
In the two embodiments, binding groove (123a) has blind hole (blind-hole) shape to prevent gas leak.
Figure 14 is the plan view for showing the corner to adjacent waveform diaphragm and being welded, and is provided in cross anchored band
The vertical support member at center will not interfere welding procedure, and Figure 15 is to show to carry out automatic soldering device according to the present invention
The perspective view of installation.
4 and Figure 15 referring to Fig.1 keeps automatic soldering device (200) mobile with to adjacent waveform along welding guiding piece (140)
Diaphragm (110：111 to 114) corner carries out joint welding.
Waveform diaphragm (110：111 to 114) each of there is rectangular shape, and oblique at its four corners
It cuts, so that working as adjacent waveform diaphragm (110：111 to 114) when the mutual joint welding of corner, it is arranged in cross anchored band
(123) vertical support member (130) at center will not interfere welding procedure.
Since four through the beveling corner of waveform diaphragm is also soldered to cross anchored band (123) and cross anchored band
(123) binding groove (123a) has blind hole shape, therefore even if ought not utilize undulating membrane piece (110：111 to 114) it covers
Cross anchored band (123) is such as waveform diaphragm (110 when the center of cross anchored band (123)：111 to 114) it equally can still function as
Barrier.In addition, the binding groove (123a) of cross anchored band (123) is not necessarily to be subjected to any additional finisher after the soldering process
Skill, and the anchor point of vertical support member can be used as during placing supplemental dielectric layer.
Figure 16 is the side view of automatic soldering device.
5 and Figure 16 referring to Fig.1, automatic soldering device (200) include main body (210), movable pulley (220), horizontal rotor
(230), X-axis/Y-axis rotor (240), articulated jib (250) and wheel-drive (260).
Main body (210) includes track (211), and welding guiding piece (140) is embedded into track (211).Track (211) can have
There is rectangular channel shape shape.
Movable pulley (220) is arranged on track (211) to move main body (210), and wheel-drive (260) is moved for driving
Driving wheel (220).Wheel-drive (260) includes motor.
Horizontal rotor (230) be mounted on main body 210 upside on, in order to around vertical axis (231) in the horizontal direction
Rotation.
X-axis/Y-axis rotor (240) is mounted on the upside of horizontal rotor (230), in order in X-direction and Y direction
Upper rotation.
Articulated jib (250) in one end of articulated jib (250) is connected to X-axis/Y-axis rotor (240) and in articulated jib (250)
The other end is provided with welding torch (270) and the sensor (280) for detecting welding field.
Articulated jib (250) is made of two segments connected by hinge (251), wherein each of described segment
There can be stretching structure.For example, segment can have double tubular structure.
Although being not shown in Figure 16, articulated jib (250) can have multiple degrees of freedom articulated structure, in the multiple degrees of freedom
In articulated structure, welding torch (270) can be moved freely according to the position of welding posture and welding field.In addition, articulated jib (250) can wrap
Include power supply (not shown).
According to another aspect of the present invention, a kind of waveform diaphragm automatic welding for guiding and fastening membranous type liquefied gas freight house
The structure of connection device includes：Cross anchored band (123), is arranged on being separately positioned on the longitudinal direction and horizontal direction of insulating layer
Anchor strap (121), at the joint portion between (122), the insulating layer includes waveform diaphragm (110：111 to 114) it is used as the
One barrier, the cross anchored band have binding groove (123a)；Vertical support member (130), is securely disposed at binding groove
For use as automatic welding support element in (123a)；And welding guiding piece (140), it is mounted in vertical support member (130) to draw
Lead automatic soldering device (200).Herein, welding guiding piece (140) can be integrally formed with vertical support member (130).
In accordance with a further aspect of the present invention, a kind of waveform diaphragm automatic soldering device for guiding membranous type liquefied gas freight house
Structure include：Cross anchored band (123), the anchoring being arranged on being separately positioned on the longitudinal direction and horizontal direction of insulating layer
At joint portion between band (121), (122), the insulating layer includes waveform diaphragm (110：111 to 114) it is used as the first barrier,
The cross anchored band has binding groove (123a)；Vertical support member (130) is securely disposed in binding groove (123a)；With
And welding guiding piece (140), it is mounted in vertical support member (130) to guide automatic soldering device (200), wherein welding guiding
Part (140) is arranged on longitudinal direction and transverse direction in the immediately above of insulating layer.
In the waveform diaphragm robot welding system of membranous type liquefied gas freight house, the lower end of vertical support member (130) is embedded into
And be fastened in the binding groove (123a) of cross anchored band (123), and the upper end supporting welding guiding piece of vertical support member (130)
(140).Automatic soldering device (200) is mounted on welding guiding piece (140), and mobile with to making along welding guiding piece (140)
For the waveform diaphragm (110 of the first barrier：111 to 114) corner is welded.
Waveform diaphragm (110：111 to 114) each of there is rectangular shape and at its corner by advance tiltedly
It cuts, so that working as adjacent waveform diaphragm (110：111 to 114) when the mutual joint welding of corner, it is arranged in cross anchored band
(123) vertical support member (130) at center will not interfere welding procedure.
Since four through the beveling corner of waveform diaphragm is also soldered to cross anchored band (123) and cross anchored band
(123) binding groove (123a) has blind hole shape, therefore even if ought not utilize undulating membrane piece (110：111 to 114) it covers
Cross anchored band (123) is such as waveform diaphragm (110 when the center of cross anchored band (123)：111 to 114) it equally can still function as
Barrier.In addition, the binding groove (123a) of cross anchored band (123) is not necessarily to be subjected to any additional finishing technique after the soldering process
It can be used as barrier.
In the operation of automatic soldering device (200), wheel-drive (260) is operated with moving in rotation wheel (220),
And automatic soldering device (200) is moved by the CONTACT WITH FRICTION between movable pulley (220) and welding guiding piece (140).It is hinged
Arm (250) includes：Two or more segments are connected by hinge (251) in order in X-direction, Y direction and level
It is moved on direction；Sensor (280), for detecting welding field；And welding torch (270), for generate hot flame (hot flame) with
It is welded.Herein, " X-direction " and " y-axis direction " can respectively refer to the direction vertical and parallel with the plane on Figure 16.Separately
Outside, universal joint (universal joint) structure can be used to rotate articulated jib in X-direction and Y direction.
Industrial applicability
As described above, waveform diaphragm robot welding system according to the present invention can be used for waveform diaphragm being fastened to major insulation
The upside of layer and each of auxiliary insulating layer.
In addition, the present invention provides a kind of waveform diaphragm robot welding system, the waveform diaphragm robot welding system is simple
Ground can establish stable automatic welding guiding route by adding cross anchored band into typical anchor strap configuration, and no matter goods
How the installation position of storehouse insulation system can implement identical automatic welding condition.
In addition, the present invention provides a kind of waveform diaphragm robot welding system, the waveform diaphragm robot welding system makes
Easily attaching/dismounting can be carried out to welding guiding piece so that do not utilize any additional finishing technique just can be by crossed anchor
The center for determining band is used as barrier, even and if still being able to during placement supplemental dielectric layer so that being welded with above on the insulating layer of film
The binding groove of cross anchored band is used as to the anchor point of vertical support member.
Claims (12)
1. a kind of waveform diaphragm robot welding system of membranous type liquefied gas cargo hold, including：
Longitudinal anchor strap is arranged on the longitudinal direction of insulating layer, and the insulating layer includes waveform diaphragm as the first barrier；
Lateral anchor strap is arranged on the horizontal direction of the insulating layer；
Cross anchored band, at the joint portion being arranged between longitudinal anchor strap and the lateral anchor strap, the crossed anchor
Fixed band has binding groove；
Vertical support member is securely disposed in the binding groove；
Guiding piece is welded, the vertical support member is connected to；And
Automatic soldering device can be moved along the welding guiding piece to be carried out to the corner of the waveform diaphragm adjacent to each other
Welding.
2. waveform diaphragm robot welding system according to claim 1, wherein the corner of the adjacent waveform diaphragm
Angle carries out joint welding by using the automatic soldering device and is secured to each other.
3. waveform diaphragm robot welding system according to claim 1, wherein the binding groove has internal thread and described
Vertical support member has external screw thread at the lower end of the vertical support member.
4. waveform diaphragm robot welding system according to claim 1, wherein the vertical support member is by pressing opening mechanism
It is fastened to the binding groove, described by opening mechanism, the lower end of the vertical support member is embedded in the binding groove, is revolved
Turn and is buckled by the binding groove.
5. waveform diaphragm robot welding system according to claim 1, wherein the binding groove has blind hole shape.
6. waveform diaphragm robot welding system according to claim 1, wherein the automatic soldering device includes：
Main body, including track, the welding guiding piece are embedded into the track；
Movable pulley is arranged on the track with the movement main body；
Horizontal rotor is mounted on the upside of the main body, so as to rotate in the horizontal direction；
X-axis/Y-axis rotor is mounted on the upside of the horizontal rotor, so as to be rotated in X-direction and Y direction；
Articulated jib is connected to the X-axis/Y-axis rotor in one end of the articulated jib and is arranged in the other end of the articulated jib
There are welding torch and the sensor for detecting welding field；And
Wheel-drive drives the movable pulley.
7. waveform diaphragm robot welding system according to claim 6, wherein the articulated jib is by being connected through the hinge
Two segments constitute, each of described segment have stretching structure.
8. a kind of structure for guiding and fastening the waveform diaphragm automatic soldering device of membranous type liquefied gas cargo hold, including：
The engagement between the anchor strap on being separately positioned on the longitudinal direction and horizontal direction of insulating layer is arranged in cross anchored band
At portion, the insulating layer includes waveform diaphragm as the first barrier, and the cross anchored band has binding groove；
Vertical support member is securely disposed in the binding groove；And
Guiding piece is welded, to guide the automatic soldering device in the vertical support member.
9. a kind of structure of waveform diaphragm automatic soldering device for guiding membranous type liquefied gas cargo hold, including：
The engagement between the anchor strap on being separately positioned on the longitudinal direction and horizontal direction of insulating layer is arranged in cross anchored band
At portion, the insulating layer includes waveform diaphragm as the first barrier, and the cross anchored band has binding groove；
Vertical support member is securely disposed in the binding groove；And
Guiding piece is welded, to guide the automatic soldering device in the vertical support member,
The wherein described welding guiding piece is arranged on longitudinal direction and transverse direction in the immediately above of the anchor strap.
10. the structure of waveform diaphragm automatic soldering device according to claim 9, wherein the binding groove has internal thread
And the vertical support member has external screw thread at the lower end of the vertical support member.
11. the structure of waveform diaphragm automatic soldering device according to claim 9, wherein the vertical support member is by pressing
Opening mechanism is fastened to the binding groove, and described by opening mechanism, the lower end of the vertical support member is embedded in the binding groove
In, rotated and buckled by the binding groove.
12. the structure of waveform diaphragm automatic soldering device according to claim 9, wherein the binding groove has blind hole shape
Shape.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020150117941A KR102289313B1 (en) | 2015-08-21 | 2015-08-21 | Automatic welding system of corrugation membrane sheet, guide fixing structure and guide structure thereof |
| KR10-2015-0117941 | 2015-08-21 | ||
| PCT/KR2016/004400 WO2017034121A1 (en) | 2015-08-21 | 2016-04-27 | Automatic welding system for corrugated membrane sheet of membrane type liquefied-gas cargo hold, structure for guiding and fixing automatic welding apparatus for corrugated membrane sheet of membrane type liquefied-gas cargo hold, and structure for guiding automatic welding apparatus for corrugated membrane sheet of membrane type liquefied-gas cargo hold |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108349036A true CN108349036A (en) | 2018-07-31 |
Family
ID=58100589
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680060441.8A Pending CN108349036A (en) | 2015-08-21 | 2016-04-27 | The robot welding system of the waveform diaphragm of membranous type liquefied gas cargo hold, waveform diaphragm for guiding and fixing membranous type liquefied gas cargo hold automatic soldering device structure and waveform diaphragm for guiding membranous type liquefied gas cargo hold automatic soldering device structure |
Country Status (6)
| Country | Link |
|---|---|
| US (1) | US20180243851A1 (en) |
| EP (1) | EP3338933A4 (en) |
| JP (1) | JP6573714B2 (en) |
| KR (1) | KR102289313B1 (en) |
| CN (1) | CN108349036A (en) |
| WO (1) | WO2017034121A1 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101931879B1 (en) * | 2017-06-28 | 2019-03-13 | 가즈트랑스포르 에 떼끄니가즈 | Sealed membrane and method for assembling a sealed membrane |
| KR200491919Y1 (en) | 2018-06-21 | 2020-07-01 | 삼성중공업 주식회사 | Apparatus for anchoring for assembling of cargo tank |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1034384A (en) * | 1996-07-25 | 1998-02-10 | Ishikawajima Harima Heavy Ind Co Ltd | Guide member for membrane welding machine of underground lng storage tank |
| CN1641257A (en) * | 2004-12-28 | 2005-07-20 | 上海市安装工程有限公司 | Low-temperature spherical tank for storing ethylene and its preparing method |
| JP2011218391A (en) * | 2010-04-07 | 2011-11-04 | Ihi Corp | Automatic welding method and apparatus |
| KR101458612B1 (en) * | 2013-07-04 | 2014-11-11 | 한국과학기술원 | Testing apparatus for metal membrane of cargo containment system in liquefied natural gas carrier |
| KR20150067313A (en) * | 2012-10-09 | 2015-06-17 | 가즈트랑스포르 에 떼끄니가즈 | Fluidtight and thermally insulated tank comprising a metal membrane that is corrugated in orthogonal folds |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2649308B2 (en) * | 1993-03-18 | 1997-09-03 | 川崎重工業株式会社 | Underground storage tank membrane construction equipment |
| JPH071188A (en) * | 1993-06-21 | 1995-01-06 | Ishikawajima Harima Heavy Ind Co Ltd | Device for joining membrane surface |
| KR101177637B1 (en) * | 2010-09-17 | 2012-08-27 | 주식회사 티엠에스 | Apparatus of Membrane Welding Guide for LNG Carrier |
| FR2983751B1 (en) * | 2011-12-08 | 2014-08-08 | Gaztransp Et Technigaz | CONSTRUCTION OF A SEALED MEMBRANE FROM METAL PLATES |
| KR101794359B1 (en) | 2012-10-04 | 2017-11-06 | 현대중공업 주식회사 | A tank inner wall structure for LNG carrier |
-
2015
- 2015-08-21 KR KR1020150117941A patent/KR102289313B1/en active IP Right Grant
-
2016
- 2016-04-27 JP JP2018509571A patent/JP6573714B2/en not_active Expired - Fee Related
- 2016-04-27 EP EP16839412.0A patent/EP3338933A4/en not_active Withdrawn
- 2016-04-27 WO PCT/KR2016/004400 patent/WO2017034121A1/en active Application Filing
- 2016-04-27 US US15/754,177 patent/US20180243851A1/en not_active Abandoned
- 2016-04-27 CN CN201680060441.8A patent/CN108349036A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1034384A (en) * | 1996-07-25 | 1998-02-10 | Ishikawajima Harima Heavy Ind Co Ltd | Guide member for membrane welding machine of underground lng storage tank |
| CN1641257A (en) * | 2004-12-28 | 2005-07-20 | 上海市安装工程有限公司 | Low-temperature spherical tank for storing ethylene and its preparing method |
| JP2011218391A (en) * | 2010-04-07 | 2011-11-04 | Ihi Corp | Automatic welding method and apparatus |
| KR20150067313A (en) * | 2012-10-09 | 2015-06-17 | 가즈트랑스포르 에 떼끄니가즈 | Fluidtight and thermally insulated tank comprising a metal membrane that is corrugated in orthogonal folds |
| KR101458612B1 (en) * | 2013-07-04 | 2014-11-11 | 한국과학기술원 | Testing apparatus for metal membrane of cargo containment system in liquefied natural gas carrier |
Also Published As
| Publication number | Publication date |
|---|---|
| JP6573714B2 (en) | 2019-09-11 |
| WO2017034121A1 (en) | 2017-03-02 |
| KR102289313B1 (en) | 2021-08-12 |
| US20180243851A1 (en) | 2018-08-30 |
| KR20170022663A (en) | 2017-03-02 |
| EP3338933A4 (en) | 2019-05-01 |
| EP3338933A1 (en) | 2018-06-27 |
| JP2018525231A (en) | 2018-09-06 |
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